概述

VL53L0X是新一代飛行時間（ToF）激光測距模塊（不同于傳統技術），采用目前市場上最小的封裝，無論目標反射率如何，都能提供精確的距離測量。它可以測量2m的絕對距離，為測距性能等級設定了新的基準，為各種新應用打開了大門。
最近在弄ST的課程，需要樣片的可以加群申請：615061293 。
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VL53L0X集成了一個領先的SPAD陣列（單光子雪崩二極管），并內嵌ST的第二代FlightSense?專利技術。
VL53L0X的940nm VCSEL發射器（垂直腔面發射激光器）完全不為人眼所見，加上內置的物理紅外濾光片，使其測距距離更長，對環境光的免疫性更強，對蓋片的光學串擾具有更好的穩定性。

![最近在弄ST的課程，需要樣片的可以加群申請：615061293 。]

視頻教學

[https://www.bilibili.com/video/BV1dH4y1D7Px/]

樣品申請

[https://www.wjx.top/vm/OhcKxJk.aspx#]

源碼下載

[https://download.csdn.net/download/qq_24312945/88332771](

所有功能

● 完全集成的小型化模塊
○ 940 nm 激光器 VCSEL
○ VCSEL驅動器
○ 測距傳感器，內嵌高級微控制器
○ 4.4 x 2.4 x 1.0 mm
● 快速，精確測距
○ 測量的絕對距離達到2m
○ 報告的距離與目標反射率無關
○ 先進的嵌入式光學串擾補償，簡化蓋片的選擇
● 人眼安全
○ 1類激光器件，符合最新標準IEC 60825-1:2014（第3版）要求
● 方便集成
○ 單回流焊元件
○ 無附加光學元件
○ 單電源
○ 用于器件控制和數據傳輸的I2C 接口
○ Xshutdown（復位）和中斷 GPIO
○ 可編程I2C地址
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技術規范

該模塊的供電要求為2.8V，適合于低電壓應用場景。它通過I2C接口進行主機控制和數據通信，方便與其他設備的集成。支持最大快速模式速率，達到400k，確保高效的數據傳輸。
最后，VL53L0X模塊具有一個默認地址為0x29的設備地址，這樣在多個I2C設備共享同一總線時，可以輕松管理和區分不同的模塊。

測量范圍

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接口

VL53L0X模塊接口的示意圖如下所示。
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接口說明

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最小系統圖

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IIC配置

在這個應用中，VL53L0X模塊通過I2C（IIC）接口與主控器通信。具體來說，VL53L0X 模塊的I2C引腳連接到主控器的PB6（引腳B6）和PB7（引腳B7）兩個IO口。
這種連接方式確保了模塊與主控器之間的可靠數據傳輸和通信。PB6作為I2C總線的串行數據線（SDA），負責數據的傳輸和接收。而PB7則充當I2C總線的串行時鐘線（SCL），用于同步數據傳輸的時序。

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配置IIC為快速模式，速度為400k。
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串口重定向

打開魔術棒，勾選MicroLIB

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在main.c中，添加頭文件，若不添加會出現 identifier "FILE" is undefined報錯。

/* USER CODE BEGIN Includes */
#include "stdio.h"
/* USER CODE END Includes */

函數聲明和串口重定向：

/* USER CODE BEGIN PFP */
int fputc(int ch, FILE *f){
	HAL_UART_Transmit(&huart1 , (uint8_t *)&ch, 1, 0xFFFF);
	return ch;
}
/* USER CODE END PFP */

模塊片選

根據提供的表格信息，我們可以得知VL53L0X模塊的XSHUT 引腳用作片選腳（Chip Enable），這是Xshutdown引腳，它是一個數字輸入，當處于低電平狀態（Active LOW）時，可以用來關閉（即"shutdown"）傳感器。這通常用于重置傳感器或在不需要傳感器測量時將其關閉以節省功耗。
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查看手冊可以得知，對應的IO為PB2和PB4。

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在STM32CUBEMX中配置如下所示。
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模塊地址

VL53L0X模塊的默認設備地址為0x29。設備地址是用來識別和通信特定設備的標識符。通過將VL53L0X模塊的設備地址設置為0x29，您可以確保與該模塊進行正常的通信和控制。
若添加讀寫位，寫地址為0x52，讀地址為0x53。
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對于VL53L0X模塊，默認的7位地址是0x29（二進制為010 1001），加上寫位后為0x52（二進制為0101 0010），加上讀位后為0x53（二進制為0101 0011）。
這意味著當主設備與VL53L0X模塊進行通信時，要發送0x52地址字節進行寫操作，或發送0x53地址字節進行讀取操作。

extern I2C_HandleTypeDef hi2c1;

void VL53L0X_WriteByte(uint8_t add,uint8_t reg,uint8_t data)
{
	HAL_I2C_Mem_Write(&hi2c1 ,(add< 1)|0,reg,I2C_MEMADD_SIZE_8BIT,&data,1,0xffff);
	
}
void VL53L0X_WriteByte_16Bit(uint8_t add,uint8_t reg,uint16_t data)
{
	uint8_t data2[2]={0,0};
	data2[0]=data >>8;
	data2[1]=data;
	HAL_I2C_Mem_Write(&hi2c1 ,(add< 1)|0,reg,I2C_MEMADD_SIZE_8BIT,data2,2,0xffff);
	
}

void VL53L0X_WriteByte_32Bit(uint8_t add,uint8_t reg,uint32_t data)
{
	uint8_t data2[4]={0,0,0,0};
	data2[0]=data >>24;
	data2[1]=data >>16;
	data2[2]=data >>8;
	data2[3]=data;
	HAL_I2C_Mem_Write(&hi2c1 ,(add< 1)|0,reg,I2C_MEMADD_SIZE_8BIT,data2,4,0xffff);
	
}

uint8_t VL53L0X_ReadByte(uint8_t add,uint8_t reg)
{
	uint8_t data=0;
	HAL_I2C_Mem_Read(&hi2c1 ,(add< 1)|1,reg,I2C_MEMADD_SIZE_8BIT,&data,1,0xffff);
	return data;
}




uint16_t VL53L0X_ReadBytee_16Bit(uint8_t add,uint16_t reg)
{
	uint16_t data=0;
	uint8_t data2[2];
	HAL_I2C_Mem_Read(&hi2c1 ,(add< 1)|1,reg,I2C_MEMADD_SIZE_8BIT,data2,2,0xffff);
	data=data2[0];
	data=data< 8;
	data+=data2[1];
	
	return data;

}

參考文檔

這里參考的文檔問arduino的驅動代碼。
https://github.com/pololu/vl53l0x-arduino/tree/master

初始化

參考程序中給出的初始化如下所示。
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其中sensor.init()是VL53L0X的模塊初始設置。

// Initialize sensor using sequence based on VL53L0X_DataInit(),
// VL53L0X_StaticInit(), and VL53L0X_PerformRefCalibration().
// This function does not perform reference SPAD calibration
// (VL53L0X_PerformRefSpadManagement()), since the API user manual says that it
// is performed by ST on the bare modules; it seems like that should work well
// enough unless a cover glass is added.
// If io_2v8 (optional) is true or not given, the sensor is configured for 2V8
// mode.
bool VL53L0X::init(bool io_2v8)
{
  // check model ID register (value specified in datasheet)
  if (readReg(IDENTIFICATION_MODEL_ID) != 0xEE) { return false; }

  // VL53L0X_DataInit() begin

  // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary
  if (io_2v8)
  {
    writeReg(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
      readReg(VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV) | 0x01); // set bit 0
  }

  // "Set I2C standard mode"
  writeReg(0x88, 0x00);

  writeReg(0x80, 0x01);
  writeReg(0xFF, 0x01);
  writeReg(0x00, 0x00);
  stop_variable = readReg(0x91);
  writeReg(0x00, 0x01);
  writeReg(0xFF, 0x00);
  writeReg(0x80, 0x00);

  // disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4) limit checks
  writeReg(MSRC_CONFIG_CONTROL, readReg(MSRC_CONFIG_CONTROL) | 0x12);

  // set final range signal rate limit to 0.25 MCPS (million counts per second)
  setSignalRateLimit(0.25);

  writeReg(SYSTEM_SEQUENCE_CONFIG, 0xFF);

  // VL53L0X_DataInit() end

  // VL53L0X_StaticInit() begin

  uint8_t spad_count;
  bool spad_type_is_aperture;
  if (!getSpadInfo(&spad_count, &spad_type_is_aperture)) { return false; }

  // The SPAD map (RefGoodSpadMap) is read by VL53L0X_get_info_from_device() in
  // the API, but the same data seems to be more easily readable from
  // GLOBAL_CONFIG_SPAD_ENABLES_REF_0 through _6, so read it from there
  uint8_t ref_spad_map[6];
  readMulti(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6);

  // -- VL53L0X_set_reference_spads() begin (assume NVM values are valid)

  writeReg(0xFF, 0x01);
  writeReg(DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
  writeReg(DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
  writeReg(0xFF, 0x00);
  writeReg(GLOBAL_CONFIG_REF_EN_START_SELECT, 0xB4);

  uint8_t first_spad_to_enable = spad_type_is_aperture ? 12 : 0; // 12 is the first aperture spad
  uint8_t spads_enabled = 0;

  for (uint8_t i = 0; i < 48; i++)
  {
    if (i < first_spad_to_enable || spads_enabled == spad_count)
    {
      // This bit is lower than the first one that should be enabled, or
      // (reference_spad_count) bits have already been enabled, so zero this bit
      ref_spad_map[i / 8] &= ~(1 < < (i % 8));
    }
    else if ((ref_spad_map[i / 8] > > (i % 8)) & 0x1)
    {
      spads_enabled++;
    }
  }

  writeMulti(GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6);

  // -- VL53L0X_set_reference_spads() end

  // -- VL53L0X_load_tuning_settings() begin
  // DefaultTuningSettings from vl53l0x_tuning.h

  writeReg(0xFF, 0x01);
  writeReg(0x00, 0x00);

  writeReg(0xFF, 0x00);
  writeReg(0x09, 0x00);
  writeReg(0x10, 0x00);
  writeReg(0x11, 0x00);

  writeReg(0x24, 0x01);
  writeReg(0x25, 0xFF);
  writeReg(0x75, 0x00);

  writeReg(0xFF, 0x01);
  writeReg(0x4E, 0x2C);
  writeReg(0x48, 0x00);
  writeReg(0x30, 0x20);

  writeReg(0xFF, 0x00);
  writeReg(0x30, 0x09);
  writeReg(0x54, 0x00);
  writeReg(0x31, 0x04);
  writeReg(0x32, 0x03);
  writeReg(0x40, 0x83);
  writeReg(0x46, 0x25);
  writeReg(0x60, 0x00);
  writeReg(0x27, 0x00);
  writeReg(0x50, 0x06);
  writeReg(0x51, 0x00);
  writeReg(0x52, 0x96);
  writeReg(0x56, 0x08);
  writeReg(0x57, 0x30);
  writeReg(0x61, 0x00);
  writeReg(0x62, 0x00);
  writeReg(0x64, 0x00);
  writeReg(0x65, 0x00);
  writeReg(0x66, 0xA0);

  writeReg(0xFF, 0x01);
  writeReg(0x22, 0x32);
  writeReg(0x47, 0x14);
  writeReg(0x49, 0xFF);
  writeReg(0x4A, 0x00);

  writeReg(0xFF, 0x00);
  writeReg(0x7A, 0x0A);
  writeReg(0x7B, 0x00);
  writeReg(0x78, 0x21);

  writeReg(0xFF, 0x01);
  writeReg(0x23, 0x34);
  writeReg(0x42, 0x00);
  writeReg(0x44, 0xFF);
  writeReg(0x45, 0x26);
  writeReg(0x46, 0x05);
  writeReg(0x40, 0x40);
  writeReg(0x0E, 0x06);
  writeReg(0x20, 0x1A);
  writeReg(0x43, 0x40);

  writeReg(0xFF, 0x00);
  writeReg(0x34, 0x03);
  writeReg(0x35, 0x44);

  writeReg(0xFF, 0x01);
  writeReg(0x31, 0x04);
  writeReg(0x4B, 0x09);
  writeReg(0x4C, 0x05);
  writeReg(0x4D, 0x04);

  writeReg(0xFF, 0x00);
  writeReg(0x44, 0x00);
  writeReg(0x45, 0x20);
  writeReg(0x47, 0x08);
  writeReg(0x48, 0x28);
  writeReg(0x67, 0x00);
  writeReg(0x70, 0x04);
  writeReg(0x71, 0x01);
  writeReg(0x72, 0xFE);
  writeReg(0x76, 0x00);
  writeReg(0x77, 0x00);

  writeReg(0xFF, 0x01);
  writeReg(0x0D, 0x01);

  writeReg(0xFF, 0x00);
  writeReg(0x80, 0x01);
  writeReg(0x01, 0xF8);

  writeReg(0xFF, 0x01);
  writeReg(0x8E, 0x01);
  writeReg(0x00, 0x01);
  writeReg(0xFF, 0x00);
  writeReg(0x80, 0x00);

  // -- VL53L0X_load_tuning_settings() end

  // "Set interrupt config to new sample ready"
  // -- VL53L0X_SetGpioConfig() begin

  writeReg(SYSTEM_INTERRUPT_CONFIG_GPIO, 0x04);
  writeReg(GPIO_HV_MUX_ACTIVE_HIGH, readReg(GPIO_HV_MUX_ACTIVE_HIGH) & ~0x10); // active low
  writeReg(SYSTEM_INTERRUPT_CLEAR, 0x01);

  // -- VL53L0X_SetGpioConfig() end

  measurement_timing_budget_us = getMeasurementTimingBudget();

  // "Disable MSRC and TCC by default"
  // MSRC = Minimum Signal Rate Check
  // TCC = Target CentreCheck
  // -- VL53L0X_SetSequenceStepEnable() begin

  writeReg(SYSTEM_SEQUENCE_CONFIG, 0xE8);

  // -- VL53L0X_SetSequenceStepEnable() end

  // "Recalculate timing budget"
  setMeasurementTimingBudget(measurement_timing_budget_us);

  // VL53L0X_StaticInit() end

  // VL53L0X_PerformRefCalibration() begin (VL53L0X_perform_ref_calibration())

  // -- VL53L0X_perform_vhv_calibration() begin

  writeReg(SYSTEM_SEQUENCE_CONFIG, 0x01);
  if (!performSingleRefCalibration(0x40)) { return false; }

  // -- VL53L0X_perform_vhv_calibration() end

  // -- VL53L0X_perform_phase_calibration() begin

  writeReg(SYSTEM_SEQUENCE_CONFIG, 0x02);
  if (!performSingleRefCalibration(0x00)) { return false; }

  // -- VL53L0X_perform_phase_calibration() end

  // "restore the previous Sequence Config"
  writeReg(SYSTEM_SEQUENCE_CONFIG, 0xE8);

  // VL53L0X_PerformRefCalibration() end

  return true;
}

由于一些宏定義都是注釋掉了的，所以可以不去執行下面紅框的指令。
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單次讀取距離長度

在主程序中，主要執行的是單次獲取數據。

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對應源碼如下所示。

// Returns a range reading in millimeters when continuous mode is active
// (readRangeSingleMillimeters() also calls this function after starting a
// single-shot range measurement)
uint16_t VL53L0X::readRangeContinuousMillimeters()
{
  startTimeout();
  while ((readReg(RESULT_INTERRUPT_STATUS) & 0x07) == 0)
  {
    if (checkTimeoutExpired())
    {
      did_timeout = true;
      return 65535;
    }
  }

  // assumptions: Linearity Corrective Gain is 1000 (default);
  // fractional ranging is not enabled
  uint16_t range = readReg16Bit(RESULT_RANGE_STATUS + 10);

  writeReg(SYSTEM_INTERRUPT_CLEAR, 0x01);

  return range;
}

// Performs a single-shot range measurement and returns the reading in
// millimeters
// based on VL53L0X_PerformSingleRangingMeasurement()
uint16_t VL53L0X::readRangeSingleMillimeters()
{
  writeReg(0x80, 0x01);
  writeReg(0xFF, 0x01);
  writeReg(0x00, 0x00);
  writeReg(0x91, stop_variable);
  writeReg(0x00, 0x01);
  writeReg(0xFF, 0x00);
  writeReg(0x80, 0x00);

  writeReg(SYSRANGE_START, 0x01);

  // "Wait until start bit has been cleared"
  startTimeout();
  while (readReg(SYSRANGE_START) & 0x01)
  {
    if (checkTimeoutExpired())
    {
      did_timeout = true;
      return 65535;
    }
  }

  return readRangeContinuousMillimeters();
}

修改后如下所示。

// Returns a range reading in millimeters when continuous mode is active
// (readRangeSingleMillimeters() also calls this function after starting a
// single-shot range measurement)
uint16_t VL53L0X_readRangeContinuousMillimeters(uint8_t add)
{
  startTimeout();
uint16_t range;
  while ( (VL53L0X_ReadByte(add,RESULT_INTERRUPT_STATUS) & 0x07) == 0)
  {
    if (checkTimeoutExpired())
    {
      did_timeout = true;
      return 65535;
    }
  }
  // assumptions: Linearity Corrective Gain is 1000 (default);
  // fractional ranging is not enabled
   range= VL53L0X_ReadBytee_16Bit(add,RESULT_RANGE_STATUS + 10);

  VL53L0X_WriteByte(add,SYSTEM_INTERRUPT_CLEAR, 0x01);

  return range;
}


// Performs a single-shot range measurement and returns the reading in
// millimeters
// based on VL53L0X_PerformSingleRangingMeasurement()
uint16_t VL53L0X_readRangeSingleMillimeters(uint8_t add)
{
  VL53L0X_WriteByte(add,0x80, 0x01);
  VL53L0X_WriteByte(add,0xFF, 0x01);
  VL53L0X_WriteByte(add,0x00, 0x00);
  VL53L0X_WriteByte(add,0x91, stop_variable);
  VL53L0X_WriteByte(add,0x00, 0x01);
  VL53L0X_WriteByte(add,0xFF, 0x00);
  VL53L0X_WriteByte(add,0x80, 0x00);

  VL53L0X_WriteByte(add,SYSRANGE_START, 0x01);

  // "Wait until start bit has been cleared"
  startTimeout();
  while (VL53L0X_ReadByte(add,SYSRANGE_START) & 0x01)
  {
    if (checkTimeoutExpired())
    {
      did_timeout = true;
      return 65535;
    }
  }

  return VL53L0X_readRangeContinuousMillimeters(add);
}